Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle (CROSBI ID 721210)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Batinović, Ana ; Goričanec, Jurica ; Marković, Lovro ; Bogdan, Stjepan
engleski
Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle
n this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles equipped with 3D sensors, such as LiDARs. It performs obstacle avoidance in real time and on an on-board computer. We present a novel algorithm based on the conventional Artificial Potential Field (APF) that corrects the planned trajectory to avoid obstacles. To this end, our modified algorithm uses a rotation-based component to avoid local minima. The smooth trajectory following, achieved with the MPC tracker, allows us to quickly change and re-plan the UAV trajectory. Comparative experiments in simulation have shown that our approach solves local minima problems in trajectory planning and generates more efficient paths to avoid potential collisions with static obstacles compared to the original APF method.
Three-dimensional displays, Laser radar, Trajectory planning, Autonomous aerial vehicles, Real-time systems, Trajectory
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Podaci o prilogu
394-401.
2022.
objavljeno
10.1109/ICUAS54217.2022.9836159
Podaci o matičnoj publikaciji
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
Institute of Electrical and Electronics Engineers (IEEE)
978-1-6654-0593-5
2373-6720
2575-7296
Podaci o skupu
International Conference on Unmanned Aircraft Systems (ICUAS)
predavanje
21.06.2022-24.06.2022
Dubrovnik, Hrvatska